Francisco Ortiz

Remote robot execution through WWW simulation

This paper shows the state of art teleoperation and simulation systems and proposes some possible network architectures devoted to the development of such systems. A method for the optimization of robot tasks is also suggested. The application proposed can teleoperate a robot arm with five degrees of freedom through Internet by using a previous simulation system and visual feedback. This simulation can be accessed simultaneously by different workers. As a result, the number of robots required can be reduced on new applications or dangerous environments.

Automatic detection of specular reflectance in colour images using the MS diagram

In this paper we present a new method for the identification of specular reflectance in colour images. We have developed a bi-dimensional histogram which allows the exploitation of the relations between the signals of intensity and saturation of a colour image. Once the diagram has been constructed, it is possible to verify that the pixels of the specular reflectance are located in a well-defined region. The brightness is automatically identified by means of the extraction of pixels present in this region of the diagram, independently of their hue values. The effectiveness of the method in a variety of real chromatic images has been proven.

Automatic detection and elimination of specular reflectance in color images by means of MS diagram and vector connected filters

This paper proposes a new method for the detection and elimination of specular reflectance in color images of real scenes. We use a two-dimensional histogram that allows us to relate the signals of intensity and saturation of a color image, and to identify the specularities in an area of the histogram. This is known as the Intensity-Saturation (MS) diagram, and it is constructed from the Intensity-Saturation-Hue (MSH) generalized color space. An experimental and detailed study of the presence of specularities in the MS diagram for different types of materials in real scenes is carried out. To eliminate the specularities detected, we use a new connected vectorial filter based on the extension of mathematical morphology to color images, employing a lexicographical order. This new filter operates only in the bright areas previously detected, avoiding the high cost of processing the connected filters and the related oversimplification. The proposed method achieves results similar to current methods, but without the need for costly multiple-view systems or stereo images

A new inpainting method for highlights elimination by colour morphology

In this paper, we present a new application of the mathematical morphology: a single-image approach for the automatic detection and elimination of highlights in colour images. We use a 2D-histogram that allows us to relate the achromatic and saturation signals of a colour image and to identify interior brightness. To eliminate the highlights detected, we use an image-inpainting method, by means of connected vectorial filters of the mathematical morphology. This new filter operates exclusively on bright zones, reducing the high cost of processing the connected filtersand avoiding over-simplification. The new method proposed here achieves good results, which are similar to those obtained from other multimedia techniques, yet does not require either costly multiple-view systems or stereo images.

Gaussian noise elimination in colour images by vector-connected filters

This paper deals with the use of vector-connected filters for eliminating Gaussian noise in colour images. This class of morphological filters suppresses noise but preserves the contours of the objects. We impose a total order between pixels for morphological processing. Once the HSI space has been adapted, we employ it in the lexicographical order. As such, all of the morphological operations are vectorial. After having defined the vectorial geodesic operators, they are then employed to eliminate Gaussian noise.

Real-time elimination of brightness in color images by MS diagram and mathematical morphology

This paper proposes a real-time method for the detection and elimination of brightness in color images. We use a 2D-histogram that allows us to relate the signals of luminance and saturation of a color image and to identify the specularities in a given area of the histogram. This is known as the MS diagram and it is constructed from a polar color model. We use a new connected vectorial filter based on color morphology to eliminate the brightness. This filter operates only in the bright zones previously detected, reducing the high cost of processing of connected filters and avoiding oversimplification, in single-processing and multiprocessing environments.

Gaussian noise removal by color morphology and polar color models

This paper deals with the use of morphological filters by reconstruction of the mathematical morphology for Gaussian noise removal in color images. These new vector connected have the property of suppressing details preserving the contours of the objects. For the extension of the mathematical morphology to color images we chose a new polar color space, the l1-norme. This color model guarantees the formation of the complete lattice necessary in mathematical morphology avoiding the drawbacks of others polar spaces. Finally, after having defined the vectorial geodesic operators, the opening and closing by reconstruc-tion are then employed for the Gaussian noise elimination.

Mathematical morphology and binary geodesy for robot navigation planning

A new method for obtaining the optimal path to robot navigation in 2-D environments is presented in this paper. To obtain the optimal path we use mathematical morphology in binary worlds and the geodesic distance. The navigation algorithm is based on the search for a path of minimum cost by using the wave-front of the geodesic distance of the mathematical morphology. The optimal path will be the one that minimize the direction changes of the robot. The algorithm of optimal path will be applied in several and complex 2-D environments.

A comparative study of highlights detection and elimination by color morphology and polar color models

In this paper, we present a comparative study ofdetection and elimination of highlights in real color images of any type of material. We use different polar color spaces for the automatic highlight detection (HLS, HSV and L1-norme). To eliminate the highlights detected, we use a new connected vectorial filter of color mathematical morphology which it operates exclusively on bright zones, reducing the high cost of processing of the connected filterand avoiding over-simplification. The new method proposed here achieves good results and it not requires costly multiple-view systems or stereo images.

Graph models applied to specification, simulation, allocation, and scheduling of real-time computer vision applications

This paper describes how graph models are applied to specification, simulation, allocation, and scheduling of real‐time computer vision applications. Furthermore, we present a new environment that allows the user to specify a Computer Vision program using graphic schemes and evaluates allocation and scheduling methods for the schemes.